JPS6040455A - Refractory spray construction method and apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a refractory blowing construction method for blowing refractories onto the beams 41 of a building if it collapses, and its installation.

For example, when constructing a high-rise building, refractory material is sprayed onto the steel inside the building. The refractory spraying method includes wet spraying, dry spraying, and semi-wet spraying.

However, in the conventional blow-in method,
Although there are differences in degree, when spraying rock wool or cement slurry, sometimes the material bounces off the steel frame or passes through the sleeve part installed on the steel frame, causing the rock wool to scatter and cause a blowout. The surrounding area will be as if it were snowing.Rock wool is made of fine needle-like U5 navy blue, so it can hurt the throat of workers who inhale it, and it can irritate the skin of workers. The working environment in the past was extremely bad.For this reason, 1/ [The contractor must wear a mask and be fully protected to avoid exposing the skin while spraying, which reduces work efficiency. It was extremely bad.

This invention was made in view of the above-mentioned circumstances, and spraying on the floor of a building is carried out by force-feeding refractories to the nozzles of a robot [~], moving them from the nozzles and moving the nozzles to spray the refractories to be sprayed. This spraying is taught to the robot about the spraying work, and the content of the teaching is laid back to the blower to prevent the refractory from dispersing in a bad environment. [A refractory spraying method that allows workers to be sprayed at a distance from each other, thereby protecting the health of workers and saving labor by improving work efficiency.] The purpose of this study is to provide a method and equipment suitable for implementing this method.

Hereinafter, the present invention will be explained along the shoreline with reference to the drawings.

First, an example of an apparatus for carrying out the construction method of the present invention will be explained with reference to FIGS.
Explanation will be given based on the diagram. 1 in Figure 1 is blowing robot 1
There is a 2nd control device. The blowing 4-ke robot 1 has a base 4 fixedly attached to the bottom of its main body 3.The 4-piece robot 1 has a base 4 fixed to the bottom of its main body 3. Plain (〕I shishita) Know 1 ~ Rigger 6
It consists of The IJ shown in FIG. 2 and FIG.
A shaft 9 is rotatably connected to the hydraulic drive motor 7 via a gearbox 8 and a bearing (not shown) provided on the substrate 5. At both ends of the shaft 9 there is a gearbox 10.1.
A shaft 12.12 is rotatably connected via a bearing (not shown) provided on the base plate 1 and the base plate 5. One shaft 12
Outriggers 6 are connected to both ends of each via gearboxes 13 and 14, respectively, and are vertically extendable and retractable.

Gearboxes 15.1 are installed at both ends of the shaft 12 for use.
Ara 1 and rigger 6 are connected via 6 and are vertically expandable and retractable. Note that the outrigger 6 is provided with a three-meter bulge (not shown) for detecting the amount of expansion and contraction thereof.

Furthermore, a traveling trolley 19 having front wheels 17 and rear wheels 18 is provided below the substrate 5. A vertical shaft 21 is fixed to the base plate 20 of the traveling cart 19, and this vertical shaft 21 is rotatable to the board 5 via a bearing (not shown) provided on the lower surface of the board 5. It is attached so that it cannot fall. A large gear 22 is attached to the vertical QLL 121. The vertical shaft 21 is equipped with a rotary encoder (J'
i "'") is protected. On the other hand, on the lower surface of the board 5, a drive motor 23 is attached, and a gear box 24 attached to the board 5 is connected to this hydraulic drive motor 23. The small gear 26 is attached to the output shaft (μ' not shown) of NJ-t:
J Radeii).

This small gear 26 is meshed with the large gear 22 by δ.

- On the width axis 27 of the rear wheel 18, there are two large sub-buttons 1-28 spaced apart (=l). Hydraulic pressure, r!, l
:The movers 29 are removed, and these are hydraulically driven.
Ka1jjj il',;t2' tl, +'l
#'L''>1'A? ;l'<The small subs 11 shoes 1 to 31 are attached to the output shaft of the 30.

Large sub [1 horn 2 f'X, small sub block 1-31 has 3? I'm being dragged around.

In addition, the base end of the lever 34 is rotated to the lower surface of the plywood 20 via the LJ 7 sig 1 33.
A circular saw-shaped small wheel 35 for distance detection is rotatably provided at the tip of the lever 3/1. A rotary encoder 37 is attached to the rotary shaft 36 provided as a rotary shaft 36. This rotary encoder 37 is electrically connected to the control device 2, and the rotary encoder 37 is
7, the amount of rotation of the rotating shaft 36 is detected. The lever 34 is suspended by a spring 38 provided between its middle portion and the lower surface of the plywood 20. Note that the hydraulic drive motors 7, 23, 29 are connected to the control device 2.

Further, the main body 3 on the board 5 has arms 41 arranged vertically, horizontally, and horizontally.
A nozzle 42 is attached to the tip of the arm 41 so as to be rotatable back and forth.A separate hose 43.
44 is installed.

A rock wool pumping device 45 is connected to the hose 43 . This lock unit pressure 32i device 45 has an L seal.
It consists of a blower 46 and a constant supply device 47. The constant supply bag @47 is installed inside the hour wheel 48 and has a hose 4 at the bottom.
3 is connected to the chute 49, a multi-blade stirring blade 150 and a two-blade stirring blade 51 rotatably installed in the shoes 1 to 49, and a vibrator 52 mounted on the outer wall surface of the four chutes. It consists of

Hose 4/l has cement 1 to slurry pressure feeding equipment 'FJj
53 is connected. This device is equipped with a mixer 56 that connects two tanks 55 each equipped with an agitator 5/l, and a slurry supply pump! JT and h eye? ) has become.

In addition, the nozzle 42 is provided with a position Vg confirmation check 58.The nozzle 42 is configured to have a position shown in FIG. 4. First, on the upper surface of the nozzle 42 there is a casing 719 or Il 14 ().
and within this nof-thing 59:L 27:)
q) -f racket 60.61 should be taken apart 1. )
There is C. Il-
A detection rod 62 is slidably inserted through the sink 50.

In addition, the detection rod 62 has an engagement hole 63 formed with a stone or l'1Φ1.
114.64 is fitted and taken (=l). This actuating body 64 is placed between the brackets 60 and 61, and
A spring 65 is provided between the moving body 64 and the bracket 61 so as to always bias the operating body 64 toward the bracket 60. On the other hand, a potentiometer 67 having an operating terminal 66 is fixed to the casing 59 in the upper part of the casing.

The operating terminal 66 is fitted into the engagement hole 63 of the operating body 64 and -C
There is. Potentiometer 67 is electrically connected to control device 2 . Note that 68 is a cover that is extendable and retractable.

Additionally, six optical obstacle detection devices are attached to the front surface of the base 5 (front wheel 17 side), and contact type emergency stop devices (magnetic tape switches >70 are attached to both sides of the base 5). These are electrically connected to the control device 2.

Next, the present invention will be explained in detail along with the operation of the apparatus having the above configuration.

For example, if you are on a predetermined working floor of a high-rise building and are spraying refractory material onto objects (large beams and small beams), the rock wool pumping device 45 and cement 1 to slurry pumping device 53 are on the - floor. , and for spraying, the robot 1 is carried onto the work floor using the Long Grino 1-.

A pre-planned travel route is laid out on the floor of the work floor.
Spraying along this line (move the probot 1 to the specified position), stop 1 and 1, and have the operator hold the nozzle 42 and place it on the box-shaped girder. ,
Blow to the small beam (=J lp, and teach the nozzle 42's luck?'> to the robot 1-1.

The hydraulic drive motor 7 is activated when the traveling carriage 19 moves +1Y. ′? 1, the shafts 9, 12, 12 rotate and the four outriggers 6 are shortened. As a result, the front wheel 17
, the rear wheel 18 comes into contact with the floor, and at this time the traveling distance detection wheel 35 also comes into contact with the floor. When the traveling platform 19 moves, the travel distance (detection wheel 351.) rotates, and these rotate together during the daytime of i1i: 1iQll 3 G! : The early is stored in the il+' control device 2 via the row reencoder 37, and the distance of the last 71 lines is recorded and stored in the Luri control device 2.

- Nozzle 42 blowing IJ IIW
()-Yi Jung), 1 to 4 shoes
] Supplying the rock wool 71, the rock wool pumping device 45
At the same time, water 72 and cement 73 are supplied to the mixer 56, and the slurry pumping device 53 to the cement 1 is operated. When covered, multi-blade stirring blade 5o, two-blade stirring blade 51
, the vibrator 52 acts to supply the rock wool 71 to the nozzle 42 at a constant rate. are mixed in the nozzle 42 and ejected from the nozzle 42 together. Also, the blowing by this nozzle 42 (=
When the outrigger is out, the hydraulic drive motor 7 is operated to extend each outrigger 6 (the length of the outrigger 6 is detected by a potentiometer (not shown) provided on the outrigger 6, and the control device 2 ). Then, the front wheels 17, rear wheels 18, and traveling distance detection wheels 35 of the traveling trolley 20 are separated from the floor surface. In this state, the nozzle 42 is moved.

At this time, when the detection rod 62 of the position confirmation sensor 58 is applied to a predetermined location on the object to be sprayed, that is, the girder, the detection rod 62 moves from the tip side of the nozzle 42 to the rear end side against the force of the tool ring 65. (in the direction of the arrow J3 in Figure 4).

Then, the operating terminal 66 of the volunteer make 07 moves in the same direction, and the amount of movement of the sensor 81 (52) is stored in the control device 2.
The point of contact with the object for the object to be blown in 2 is the specified point on the bottom surface of the object.

Next, when changing the direction of movement of the traveling cart 19 and performing spraying, the rollers 1 to 6 are hydraulically driven in an extended state and -923 is activated. Then,
The small gear 26, the large tooth 1t 22, and the running trolley 19 through the vertical gear 11121 have a predetermined hJ for the alignment 41J! 'i rotation (3.J7J movement on this base 4) (The amount of rotation in 10 is recorded on the control ti++ device by the rotary and f encoder (not shown) provided on the vertical shaft 21. ) uHere, if the outrigger 6 is shortened by 11 points, the front wheels 17 and rear wheels 18 are brought into contact with the floor, and the traveling trolley 19 is moved in a predetermined direction, the traveling trolley 19 can be moved in the desired y direction. .

Thereafter, the teaching contents are played back to the spraying robot 1, and the actual spraying work is performed.

During this playback, spraying can be performed at twice the teaching speed, quadruple speed, or the like.

In addition, when spraying during playback, if the position of the robot 1 is different from that during teaching, the amount of movement of the detection rod 62 in contact with the object to be blown relative to the nozzle 42 changes, so the potentiometer is adjusted accordingly. A change occurs in the electrical signal sent from 67 to the control device 2, and based on this, the positions of the robots 1 to 1 are detected, and the control device 2 immediately and automatically changes the position of the robot 1 to the position at the time of teaching. Correct the position. In addition, if there is an obstacle in the direction of movement of the robots 1 to 1, the optical obstacle detection device 69 detects this, and the robot 1 is immediately stopped and the robot 1 is stopped immediately. When an obstacle comes into contact with the contact type emergency stop device 70 provided on the side of the stand 4, an electric signal is sent from the contact type emergency stop device 70 to the control device 2, and this control device 2 immediately stops the robot 1 from spraying. Sazeru.

In the above example, the so-called "half-moist" (blown Nl 1) construction method, in which rock wool and cement slurry are separately pumped and covered, was explained as an example, but other blowing methods (bue method) are basically used. It goes without saying that the conventional refractory IF feeding system may be used.

For example, when using the wet spraying method, a refractory slurry such as rock wool, cement, and aggregate is transported to the robot nozzle using a pump. In addition, if you are looking for a dry spraying method, semi-wet spraying is basically the same as the method shown in the construction method, and is a steady method. A mixture of L'l Tsukuru 71 and Lement 73 is supplied to the supply device 717, and the mixture is passed through the hose 43 to the nozzle 42 using the Root Brux7'/16.
, 'A Jrudo, only the water 72 is pumped into the hose 44 through the nozzle 4 with the cement slurry pressure 1"
2.4, and if it is 2, use 17- from a separately prepared complet tree to form a mist and blow f'
J(t I) Bore 1 to 1 may be operated.

As explained above, according to the construction method of the first aspect of the present invention, the refractory material is sprayed onto the building floor by force-feeding the refractory material to the nozzle of the robot, and moving the nozzle while spouting the refractory material from the nozzle. The target area is sprayed, and this spraying operation is taught to the robot, and the teaching content is played back by the robot, so it is easy to remove the worker from a bad environment where refractories are scattered. Refractories can be sprayed at a distance, thereby protecting the health of workers, and further improving work efficiency and saving labor. According to the device of the second invention, there is a nozzle.
(The trackless moving mechanism and control device are installed in robots 1 to 1), and the spraying device installed on a predetermined floor of the building has a configuration in which a refractory pressure feeding device is connected to the nozzle of the robot via a pressure hose. By the action of the control device, the robot can automatically run and stop the spraying on a predetermined floor of the building, and the robot can perform the spraying work by self-determining everything from checking the position to making corrections. ) It is possible to provide a stable supply of refractories suitable for spraying to the blown F-J monster (), and the spraying 1" bot can automatically move without track, making it easy to move. There is a high degree of freedom in
By omitting the installation of the rail M, it is possible to lower the strike, has excellent maneuverability, has a wide blowing range, and can be used in buildings with different floor heights to withstand medium to medium fires eO1 is highly versatile. The effects of use at construction sites, such as improved blowing accuracy, are tremendous.

[Brief explanation of the drawing]

Fig. 1 shows a connection diagram of an embodiment of an apparatus for spraying a refractory material suitable for using the method of the present invention, and Fig. 2 shows a connection diagram of its base and components. Figure 3 is a side view of the base and traveling truck, i) Figure 4 is the nozzle and the nozzle (=i I: J et al. 1') (Q7 if
Kl! FIG. 3 is a vertical cross-sectional view of the recognition sensor. 1...Blowing robot, 2...Control device, 37...Rotary encoder, 41...
... Arm, 42 ... Nozzle, 43.44
... Hose, 45 ... [21 Tsukuuru pressure feeding neck, 46 ... Roots blower, 47 ...
... Constant supply device, 53 ... Cement slurry pumping device, 5G ... Mixer, 57 ...
... Slurry supply pump, 58 ... Position confirmation sensor, 71 ... Rock wool. Applicant Shimizu Corporation Kobe Steel NICHIAS Co., Ltd. [] Honrement Co., Ltd. Figure 2

Claims (5)

[Claims] (1) A blowing robot h with a spraying nozzle is placed on the floor installed around the area where the refractory material is blown onto the building, and the refractory material is force-fed to the nozzle, and the refractory material is sprayed onto the floor. The movement of the nozzle is stored in the control device of the robot, and the playback signal from the control device causes the nozzle to be transferred to the memory of the control device. A refractory spraying method is characterized in that a refractory coating is formed on the refractory blown parts f''i and J by operating the refractory spraying. (2) Refractory spraying of buildings (The sprayer placed above the work floor is handled by a robot; The trackless moving mechanism provided in the building and the spraying device include a robot control device, and a refractory pumping device provided on a predetermined floor of the building, and the spraying device is connected to a nozzle of the robot I. Blow up the refractory and put it on (3) Refractory pumping equipment, Roots Blue 1-1A and O.
Rock Cool 1 equipped with a constant supply device for Tsukuwool]
- A refractory spraying device according to claim 2, characterized in that it comprises a feeding device and a cement slurry pumping device. (4) The above-mentioned blow (=J
Refractory blowing ("J +") device described in iMetroro patent claim [llJ No. 2 Iff]. (5) A sensor for position confirmation on the nozzle/　　　　　　　　　　　　　　　　　　　　　　〕1 (Range of refractory blowing (=14) described in item 2) jt0